Buffers in Shared Memory for Sensor Data in Vehicles

1. A vehicle comprising: at least one processor; a plurality of sensors; a memory; a sensor service executable by the at least one processor to: receive an indication of interest from a client for sensor data of a first sensor of the plurality of sensors, allocate buffers in the memory for the plurality of sensors, provide a first buffer of the buffers to a sensor connector that is to receive the sensor data from the first sensor, receive, from the sensor connector, an indication that the first buffer in the memory has been written with the sensor data from the first sensor, based on the indication of interest from the client, notify the client that the first buffer is available for reading by the client from the memory, and grant a read lock to the client for read access of the first buffer in the memory.

2. The vehicle of claim 1, wherein the read lock of the first buffer being granted to the client blocks write access of the first buffer by the sensor connector.

3. The vehicle of claim 2, wherein the sensor service is executable by the at least one processor to: determine whether all read locks on the first buffer have been released, and based on a determination that all read locks on the first buffer have been released, allow reuse of the first buffer.

4. The vehicle of claim 3, wherein the sensor service is executable by the at least one processor to: grant multiple read locks to a plurality of clients for read access of the first buffer, wherein the determination that all read locks on the first buffer have been released comprises a determination that the plurality of clients have released the multiple read locks.

5. The vehicle of claim 1, wherein the sensor service is executable by the at least one processor to: obtain, from the sensor connector, information of the plurality of sensors.

6. The vehicle of claim 5, wherein the information of the plurality of sensors from the sensor connector comprises identifiers of the plurality of sensors.

7. The vehicle of claim 1, wherein the sensor service is executable by the at least one processor to: determine a quantity of buffers to allocate to the first sensor based on subscriptions for the first sensor from clients.

8. The vehicle of claim 7, wherein the sensor service is executable by the at least one processor to deallocate a buffer for the first sensor based on an unsubscribe indication from a client or based on a quantity of unused buffers for the first sensor exceeding a threshold.

9. The vehicle of claim 1, wherein the indication of interest comprises a subscription request from the client.

10. The vehicle of claim 1, wherein the client comprises a synthetic sensor.

11. The vehicle of claim 1, wherein the sensor connector is a first sensor connector of a plurality of sensor connectors that are to receive sensor data from different respective sets of sensors.

12. The vehicle of claim 1, wherein the client is a first client of a plurality of clients, and the sensor service is executable by the at least one processor to: restrict a quantity of read locks granted to the first client based on a target lock quantity level.

13. The vehicle of claim 1, wherein the sensor service and the sensor connector are within a common process space.

14. The vehicle of claim 13, wherein the sensor service and the sensor connector are to use a respective reference, in the common process space, to refer to each buffer of the buffers.

15. The vehicle of claim 1, wherein the notification to the client that the first buffer is available to read by the client from the memory comprises information useable by the client to access the first buffer, the information comprising information of a region of the memory where the first buffer is stored, and the read lock for the first buffer.

16. The vehicle of claim 1, wherein the sensor service is executable by the at least one processor to: adjust a quantity of buffers allocated to each sensor of the plurality of sensors based on one or more criteria.

17. A non-transitory machine-readable storage medium comprising instructions that upon execution cause a system to: receive a subscription from a client for sensor data of a first sensor of a plurality of sensors in a vehicle; allocate buffers in a shared memory of the vehicle for the plurality of sensors, provide write access of a first buffer of the buffers to a sensor connector that is to receive the sensor data from the first sensor; receive, from the sensor connector, an indication that the first buffer in the shared memory has been written with the sensor data from the first sensor; and based on the subscription from the client and the indication, grant a read lock to the client for read access of the first buffer by the client.

18. The non-transitory machine-readable storage medium of claim 17, wherein the granting of the read access of the first buffer by the client is based on a determination that a quantity of buffers granted to the client does not exceed a maximum quantity.

19. A method comprising: allocating, by a sensor service executed on at least one processor in a vehicle, a respective set of buffers for each sensor of a plurality of sensors in the vehicle; receiving, by the sensor service, a subscription from a client for sensor data of a first sensor of the plurality of sensors; providing write access of a first buffer of a first set of buffers in a memory to a sensor connector that is to receive the sensor data from the first sensor, the first set of buffers allocated to the first sensor; receiving, by the sensor service from the sensor connector, an indication that the first buffer in the memory has been written with the sensor data from the first sensor; and based on the subscription from the client and the indication, granting, by the sensor service, a shared read lock of the first buffer to the client.